add: 添加AGV进入离开烘箱区域反馈,下发管芯托盘信息

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java

@@ -1,5 +1,6 @@
 package org.nl.acs.auto.run;
 
+import cn.hutool.core.collection.CollUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import lombok.extern.slf4j.Slf4j;
@@ -10,6 +11,8 @@ import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.agv.ndcone.AgvNdcOneDeviceDriver;
 import org.nl.acs.device_driver.agv.ndctwo.AgvNdcTwoDeviceDriver;
 import org.nl.acs.device_driver.autodoor.standard_autodoor.StandardAutodoorDeviceDriver;
+import org.nl.acs.device_driver.conveyor.standard_inspect_site.StandardInspectSiteDeviceDriver;
+import org.nl.acs.device_driver.two_conveyor.oven_manipulator.OvenGantryManipulatorDeviceDriver;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
 import org.nl.acs.instruction.domain.Instruction;
@@ -27,9 +30,13 @@ import org.springframework.stereotype.Component;
 import java.io.DataInputStream;
 import java.io.DataOutputStream;
 import java.io.IOException;
+import java.lang.reflect.Field;
 import java.net.InetSocketAddress;
 import java.net.Socket;
 import java.util.Date;
+import java.util.List;
+import java.util.concurrent.atomic.AtomicInteger;
+import java.util.concurrent.atomic.AtomicReference;
 
 import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString;
 
@@ -52,6 +59,11 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
     boolean bConnected = true;
 
     boolean isReConnect = false;
+    int i = 1 ;
+    boolean requireSucessRegion = false;
+    boolean requireSucessTake = false;
+    boolean requireSucessPut = false;
+
 
     @Autowired
     ISysParamService paramService;
@@ -195,7 +207,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                 if (agvDevice.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) {
                                     agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) agvDevice.getDeviceDriver();
                                     agvNdcTwoDeviceDriver.setInstruction(null);
-                                }else if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
+                                } else if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
                                     agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver();
                                     agvNdcOneDeviceDriver.setInstruction(null);
                                 }
@@ -231,18 +243,47 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                         if (ObjectUtil.isNotEmpty(device)) {
                             if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) {
                                 standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver();
-                                try {
+                                String region = (String) standardAutodoorDeviceDriver.getDevice().getExtraValue().get("region");
-                                    standardAutodoorDeviceDriver.writing("to_open", "1");
+                                if (StrUtil.isNotEmpty(region) && !(" ".equals(region))) {
-                                    standardAutodoorDeviceDriver.writing("to_close", "0");
+                                    String linkDeviceCode = (String) standardAutodoorDeviceDriver.getDevice().getExtraValue().get("link_device_code");
-                                } catch (Exception e) {
+                                    Device deviceByCode = deviceAppService.findDeviceByCode(linkDeviceCode);
-                                    log.info("下发电气信号失败:" + e.getMessage());
+                                    if (ObjectUtil.isNotEmpty(deviceByCode) && deviceByCode.getDeviceDriver() instanceof OvenGantryManipulatorDeviceDriver) {
-                                    e.printStackTrace();
+                                        OvenGantryManipulatorDeviceDriver hxhj = (OvenGantryManipulatorDeviceDriver) deviceByCode.getDeviceDriver();
-                                }
+                                        String s = Integer.parseInt(region) == 1 ? "one" : Integer.parseInt(region) == 2 ?
-                                if (standardAutodoorDeviceDriver.getOpen() == 1 && standardAutodoorDeviceDriver.getToOpen() == 1 ) {
+                                                "two" : Integer.parseInt(region) == 3 ? "three" : null;
-                                    log.info("下发开门信号值为:{},下发关门信号值为:{}", standardAutodoorDeviceDriver.getToOpen(), standardAutodoorDeviceDriver.getToClose());
+                                        Class<? extends OvenGantryManipulatorDeviceDriver> aClass = hxhj.getClass();
-                                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                                        String regionCode = "region_" + s;
-                                }else {
+                                        String s1 = Integer.parseInt(region) == 1 ? "2" : Integer.parseInt(region) == 2 ?
-                                    log.info("未下发NDC信号原因: 下发开门信号值为:{},下发关门信号值为:{}", standardAutodoorDeviceDriver.getToOpen(), standardAutodoorDeviceDriver.getToClose());
+                                                "6" : Integer.parseInt(region) == 3 ? "8" : null;
+                                        if (StrUtil.isNotEmpty(s) && ((Integer) aClass.getField(regionCode).get(hxhj) == 0)) {
+                                            hxhj.writing("to_"+regionCode, s1);
+                                            log.info("下发AGV进入区域{}信号值为:{}", region, s1);
+                                        } else {
+                                            log.info("区域{}信号{}未清除,导致不满足下发AGV进入区域信号", region, regionCode);
+                                        }
+                                        if (hxhj.getMode() == 2 && StrUtil.isNotEmpty(s1) && ((Integer) aClass.getField(regionCode).get(hxhj) == 2)) {
+                                            data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                                            requireSucessRegion = true;
+                                        } else {
+                                            log.error("AGV进入区域{}信号{}行架未接收{},请检查;或行架正在执行中:{}", region, regionCode,s1, hxhj.getMode());
+                                        }
+                                    } else {
+                                        log.error("未设置关联设备或关联的不是烘箱行架设备{}导致信号未反馈", linkDeviceCode);
+                                    }
+                                } else {
+                                    try {
+                                        standardAutodoorDeviceDriver.writing("to_open", "1");
+                                        standardAutodoorDeviceDriver.writing("to_close", "0");
+                                    } catch (Exception e) {
+                                        log.info("下发电气信号失败:" + e.getMessage());
+                                        e.printStackTrace();
+                                    }
+                                    if (standardAutodoorDeviceDriver.getOpen() == 1 && standardAutodoorDeviceDriver.getToOpen() == 1) {
+                                        log.info("下发开门信号值为:{},下发关门信号值为:{}", standardAutodoorDeviceDriver.getToOpen(), standardAutodoorDeviceDriver.getToClose());
+                                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                                    } else {
+                                        log.info("未下发NDC信号原因: 下发开门信号值为:{},下发关门信号值为:{}", standardAutodoorDeviceDriver.getToOpen(), standardAutodoorDeviceDriver.getToClose());
+                                    }
                                 }
                             }
                         } else {
@@ -257,19 +298,50 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                         if (ObjectUtil.isNotEmpty(device)) {
                             if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) {
                                 standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver();
-                                try {
+                                String region = (String) standardAutodoorDeviceDriver.getDevice().getExtraValue().get("region");
-                                    standardAutodoorDeviceDriver.writing("to_close", "1");
+                                if (StrUtil.isNotEmpty(region) && !(" ".equals(region))) {
-                                    standardAutodoorDeviceDriver.writing("to_open", "0");
+                                    String linkDeviceCode = (String) standardAutodoorDeviceDriver.getDevice().getExtraValue().get("link_device_code");
-                                } catch (Exception e) {
+                                    if(requireSucessTake || requireSucessPut){
-                                    log.info("下发电气信号失败:" + e.getMessage());
+                                        Device deviceByCode = deviceAppService.findDeviceByCode(linkDeviceCode);
-                                    e.printStackTrace();
+                                        if (ObjectUtil.isNotEmpty(deviceByCode) && deviceByCode.getDeviceDriver() instanceof OvenGantryManipulatorDeviceDriver) {
+                                            OvenGantryManipulatorDeviceDriver hxhj = (OvenGantryManipulatorDeviceDriver) deviceByCode.getDeviceDriver();
+                                            String s = Integer.parseInt(region) == 1 ? "one" : Integer.parseInt(region) == 2 ?
+                                                    "two" : Integer.parseInt(region) == 3 ? "three" : null;
+                                            Class<? extends OvenGantryManipulatorDeviceDriver> aClass = hxhj.getClass();
+                                            String regionCode = "region_" + s;
+                                            if (StrUtil.isNotEmpty(s) && ((Integer) aClass.getField(regionCode).get(hxhj) != 0)) {
+                                                hxhj.writing("to_"+regionCode, "0");
+                                                log.info("下发AGV离开区域{}信号值为:{}", region, 0);
+                                            } else {
+                                                log.info("区域{}信号{}为0,不需要下发AGV离开区域信号", region, regionCode);
+                                            }
+                                            if (hxhj.getMode() == 2 && ((Integer) aClass.getField(regionCode).get(hxhj) == 0)) {
+                                                data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                                                requireSucessPut = false;
+                                                requireSucessTake = false;
+                                            } else {
+                                                log.error("AGV离开区域{}信号{}行架未接收0,请检查;或行架正在执行中:{}", region, regionCode, hxhj.getMode());
+                                            }
+                                        } else {
+                                            log.error("未设置关联设备或关联的不是烘箱行架设备{}导致信号未反馈", linkDeviceCode);
+                                        }
+                                    }else{
+                                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                                    }
+                                } else {
+                                    try {
+                                        standardAutodoorDeviceDriver.writing("to_close", "1");
+                                        standardAutodoorDeviceDriver.writing("to_open", "0");
+                                    } catch (Exception e) {
+                                        log.info("下发电气信号失败:" + e.getMessage());
+                                        e.printStackTrace();
+                                    }
+                                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                                 }
-                                data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                             }
                         } else {
                             log.info(device_code + "对应设备号为空!");
                         }
-
                     } else {
                         //上报异常信息
                         //（不需要WCS反馈）
@@ -283,6 +355,13 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                 if (device.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) {
                                     agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) device.getDeviceDriver();
                                     agvNdcTwoDeviceDriver.processSocket(arr);
+                                    if(phase == 0x05 && "3".equals(inst.getInstruction_type()) && requireSucessRegion){
+                                        requireSucessPut = true;
+                                        requireSucessRegion = false;
+                                    }else if(phase == 0x0E && "8".equals(inst.getInstruction_type()) && requireSucessRegion){
+                                        requireSucessTake = true;
+                                        requireSucessRegion = false;
+                                    }
                                 } else if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
                                     agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver();
                                     agvNdcOneDeviceDriver.processSocket(arr);
@@ -298,12 +377,10 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                     if (!ObjectUtil.isEmpty(data)) {
                         write(data);
                     }
-
                 } else {
                     System.out.println("agv上报不是0073类型动作，不处理");
                 }
             }
-
         } catch (Exception e) {
 
 

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java

@@ -47,6 +47,7 @@ import org.nl.config.lucene.service.dto.LuceneLogDto;
 import org.nl.system.service.param.ISysParamService;
 import org.nl.config.SpringContextHolder;
 
+import java.util.HashMap;
 import java.util.LinkedHashMap;
 import java.util.Map;
 
@@ -1543,7 +1544,23 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
             } else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
                 paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
                 try {
-                    paperTubePickSiteDeviceDriver.writing(5);
+                    TaskDto byTaskCode = taskService.findByTaskCode(inst.getTask_code());
+                    Map map = new HashMap();
+                    if(StrUtil.isNotEmpty(byTaskCode.getInteraction_json())){
+                        String interaction_json = byTaskCode.getInteraction_json();
+                        JSONObject jsonObject = JSONObject.parseObject(interaction_json);
+                        String to_material = jsonObject.getString("to_material");
+                        String to_spec = jsonObject.getString("to_spec");
+                        String to_qty = jsonObject.getString("to_qty");
+                        map.put("to_command",5);
+                        map.put("to_material",to_material);
+                        map.put("to_spec",to_spec);
+                        map.put("to_qty",to_qty);
+                        paperTubePickSiteDeviceDriver.writing(map);
+                    }else{
+                        map.put("to_command",5);
+                        paperTubePickSiteDeviceDriver.writing(map);
+                    }
                 } catch (Exception e) {
                     e.printStackTrace();
                 }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/oven_manipulator/ItemProtocol.java

@@ -30,6 +30,13 @@ public class ItemProtocol {
     public static String item_x_position = "x";
     //y轴坐标
     public static String item_y_position = "y";
+    //区域一
+    public static String item_region_one = "region_one";
+    //区域二
+    public static String item_region_two = "region_two";
+    //区域三
+    public static String item_region_three = "region_three";
+
 
     //下发命令
     public static String item_to_command = "to_command";
@@ -37,6 +44,12 @@ public class ItemProtocol {
     public static String item_to_onset = "to_onset";
     //下发目标站
     public static String item_to_target = "to_target";
+    //下发区域一
+    public static String item_to_region_one = "to_region_one";
+    //下发区域二
+    public static String item_to_region_two = "to_region_two";
+    //下发区域三
+    public static String item_to_region_three = "to_region_three";
     //下发任务号
     public static String item_to_task = "to_task";
 
@@ -82,6 +95,30 @@ public class ItemProtocol {
         return this.getOpcIntegerValue(item_to_target);
     }
 
+    public int getTo_region_one() {
+        return this.getOpcIntegerValue(item_to_region_one);
+    }
+
+    public int getTo_region_two() {
+        return this.getOpcIntegerValue(item_to_region_two);
+    }
+
+    public int getTo_region_three() {
+        return this.getOpcIntegerValue(item_to_region_three);
+    }
+
+    public int getRegion_one() {
+        return this.getOpcIntegerValue(item_region_one);
+    }
+
+    public int getRegion_two() {
+        return this.getOpcIntegerValue(item_region_two);
+    }
+
+    public int getRegion_three() {
+        return this.getOpcIntegerValue(item_region_three);
+    }
+
     public int getTo_task() {
         return this.getOpcIntegerValue(item_to_task);
     }
@@ -150,6 +187,9 @@ public class ItemProtocol {
         list.add(new ItemDto(item_task, "任务号", "DB1.D6"));
         list.add(new ItemDto(item_x_position, "x坐标", "DB1.REAL10"));
         list.add(new ItemDto(item_y_position, "y坐标", "DB1.REAL14"));
+        list.add(new ItemDto(item_region_one, "区域一", "DB1.REAL18"));
+        list.add(new ItemDto(item_region_two, "区域二", "DB1.REAL22"));
+        list.add(new ItemDto(item_region_three, "区域三", "DB1.REAL26"));
         return list;
     }
 
@@ -159,6 +199,9 @@ public class ItemProtocol {
         list.add(new ItemDto(item_to_onset, "下发起始站", "DB2.W2"));
         list.add(new ItemDto(item_to_target, "下发目标站", "DB2.W4"));
         list.add(new ItemDto(item_to_task, "下发任务号", "DB2.D6"));
+        list.add(new ItemDto(item_to_region_one, "下发区域一", "DB2.D6"));
+        list.add(new ItemDto(item_to_region_two, "下发区域二", "DB2.D6"));
+        list.add(new ItemDto(item_to_region_three, "下发区域三", "DB2.D6"));
         return list;
     }
 

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/oven_manipulator/OvenGantryManipulatorDeviceDriver.java

@@ -110,6 +110,19 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
     int last_heartbeat = 0;
     int to_command = 0;
     int last_to_command = 0;
+    public int region_one = 0;
+    public int last_region_one = 0;
+    public int region_two = 0;
+    public int last_region_two = 0;
+    public int region_three = 0;
+    public int last_region_three = 0;
+    public int to_region_one = 0;
+    public int last_to_region_one = 0;
+    public int to_region_two = 0;
+    public int last_to_region_two = 0;
+    public int to_region_three = 0;
+    public int last_to_region_three = 0;
+
 
     int to_target = 0;
     int last_to_target = 0;
@@ -183,6 +196,12 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
             to_onset = this.itemProtocol.getTo_onset();
             x_position = this.itemProtocol.getX_position();
             y_position = this.itemProtocol.getY_position();
+            region_one = this.itemProtocol.getRegion_one();
+            region_two = this.itemProtocol.getRegion_two();
+            region_three = this.itemProtocol.getRegion_three();
+            to_region_one = this.itemProtocol.getTo_region_one();
+            to_region_two = this.itemProtocol.getTo_region_two();
+            to_region_three = this.itemProtocol.getTo_region_three();
             iserror = this.itemProtocol.device_status;
 
             if (mode != last_mode) {
@@ -262,6 +281,10 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
         last_to_onset = to_onset;
         last_x_position = x_position;
         last_y_position = y_position;
+        last_region_one = region_one;
+        last_region_two = region_two;
+        last_region_three = region_three;
+
     }
 
     public List<TaskDto> sortTask(List<TaskDto> taskDtos) {

acs2/nladmin-ui/src/views/acs/device/driver/standard_autodoor.vue

@@ -50,11 +50,45 @@
       </div>
       <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
         <el-row>
-          <el-col :span="8">
+          <el-col :span="12">
             <el-form-item label="电气调度号" label-width="150px">
               <el-switch v-model="form.OPCServer" />
             </el-form-item>
           </el-col>
+          <el-col :span="12">
+            <el-form-item label="选择区域" prop="region">
+              <el-select
+                v-model="form.region"
+                filterable
+                clearable
+                placeholder="请选择"
+              >
+                <el-option
+                  v-for="item in region"
+                  :key="item.region_number"
+                  :label="item.region_name"
+                  :value="item.region_number"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
+          <el-col :span="12">
+            <el-form-item label="关联设备" prop="device_code" label-width="135px">
+              <el-select
+                v-model="form.link_device_code"
+                filterable
+                clearable
+                placeholder="请选择"
+              >
+                <el-option
+                  v-for="item in deviceList"
+                  :key="item.device_name"
+                  :label="item.device_code"
+                  :value="item.device_code"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
         </el-row>
       </el-form>
     </el-card>
@@ -161,6 +195,7 @@ import {
 import { selectOpcList } from '@/api/acs/device/opc'
 import { selectPlcList } from '@/api/acs/device/opcPlc'
 import { selectListByOpcID } from '@/api/acs/device/opcPlc'
+import deviceCrud from '@/api/acs/device/device'
 
 import crud from '@/mixins/crud'
 
@@ -184,6 +219,7 @@ export default {
       configLoading: false,
       dataOpcservers: [],
       dataOpcPlcs: [],
+      deviceList: [],
       data1: [],
       data2: [],
       form: {
@@ -195,7 +231,12 @@ export default {
         is_pickup: true,
         is_release: true
       },
-      rules: {}
+      rules: {},
+      region: [
+        { region_name: '区域一', region_number: '1' },
+        { region_name: '区域二', region_number: '2' },
+        { region_name: '区域三', region_number: '3' }
+      ]
     }
   },
   created() {
@@ -234,6 +275,9 @@ export default {
         this.dataOpcservers = data
         this.opc_id = this.$props.parentForm.opc_server_id
       })
+      deviceCrud.selectDeviceList().then(data => {
+        this.deviceList = data
+      })
     })
   },
   methods: {